Preheat the oven to 350°F (175°C). Line a baking sheet with parchment paper.
In a large mixing bowl, combine the peanut butter, granulated sugar, egg, vanilla extract, and baking soda. Mix until smooth and well combined.
Roll the dough into 1-inch balls and place them on the prepared baking sheet about 2 inches apart.
Bake the cookies for 8-10 minutes until the edges are set but the centers are still soft.
Remove the cookies from the oven and immediately press one Hershey’s Kiss into the center of each cookie.
Allow the cookies to cool on the baking sheet for 5 minutes before transferring them to a wire rack to cool completely.